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refactoring DW example to help debug it and make the code clear

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1 parent fed1a6a commit 2429601b669fd86cb1168143af5a7de38898e410 @rtv committed Nov 29, 2011
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56 worlds/dw.world
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+# simple.world - basic world file example
+# Authors: Richard Vaughan
+# $Id$
+
+include "pioneer.inc"
+include "map.inc"
+include "sick.inc"
+
+# time to pause (in GUI mode) or quit (in headless mode (-g)) the simulation
+quit_time 3600 # 1 hour of simulated time
+
+paused 1
+
+resolution 0.02
+
+# configure the GUI window
+window
+(
+ size [ 635 666 ] # in pixels
+ scale 79.890 # pixels per meter
+ center [ 5.590 5.246 ]
+ rotate [ 0.500 0.500 ]
+
+ show_data 1 # 1=on 0=off
+)
+
+# load an environment bitmap
+floorplan
+(
+ name "cave"
+ size [16.000 16.000 0.800]
+ pose [0.000 0.000 0.000 0.000]
+ bitmap "bitmaps/cave.png"
+)
+
+
+pioneer2dx
+(
+ # can refer to the robot by this name
+ name "r0"
+ pose [ 5.978 6.139 0.000 41.349 ]
+
+ # pioneer2dx's sonars will be ranger:0 and the laser will be ranger:1
+ sicklaser( pose [ 0.000 0.000 0.000 0.000 ] )
+
+ # demonstrate a plugin controller, implemented in examples/ctrl/wander.cc
+ # you probably should comment this out when using simple.cfg with Player
+ ctrl "dw"
+
+ # report error-free position in world coordinates
+ localization "gps"
+ localization_origin [ 0 0 0 0 ]
+
+ velocity_bounds [ 0.0 1.0 0 0 0 0 -45 45 ]
+ acceleration_bounds [ -1 1 0 0 0 0 -90 90 ]
+)

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